Prince William, wife Kate and baby George waved goodbye to Australia and New Zealand on Friday after a 19-day tour that left them "bowled over" by the beauty and hospitality of the two countries, said a spokesman.

The couple took off from Australia's Canberra airport after showing off George one last time.

With Kate holding George – decked out in a vivid red cardigan and overalls with a pink stripe, and at one point letting out a little cry – the family waved from the top steps of a 737 air force jet, which took them to Sydney for a commercial flight home to the U.K.

"The tour of New Zealand and Australia has been an incredible experience for both the Duke and Duchess, and the couple really have enjoyed it immensely," the royal spokesman said.

"We always said this would be an opportunity for the Duke to introduce both countries to the Duchess and Prince George, and the couple have been bowled over by the extraordinarily warm welcome shown to them as a family by people everywhere they went."

Their departure followed a last day of engagements that saw William, 31, and Kate, 32, help mark Australia's day of remembrance for the war dead.